CAJ | 학술논문

惯性导航系统经过长时间自主导航后，陀螺仪的 g0项漂移误差会引起速度和位置误差发散。为了抑制以上误差，设计基于参考速度和一点位置的重调方案：利用基于参考速度的 Kalman 滤波器实时估计陀螺漂移误差并进行误差补偿，补偿后，再利用一点位置进行全面的参数修正，以得到重调所需的10个参数。针对空间稳定惯性导航系统进行了仿真，结果表明：采样频率10 Hz 条件下，根据连续6 hr 地速误差观测值即可完成相关参数辨识，极轴陀螺的 g0项漂移误差估计精度可达5.8%，而无法辨识赤道陀螺的 g0项漂移误差，它将引起经度误差发散，因此需利用一点位置进行 g0项陀螺漂移误差修正。实际导航试验表明：利用零速信息加上一点位置进行重调，速度和位置精度分别提高了58.2%和70.0%。
관성도항계통경과장시간자주도항후，타라의적 g0항표이오차회인기속도화위치오차발산。위료억제이상오차，설계기우삼고속도화일점위치적중조방안：이용기우삼고속도적 Kalman 려파기실시고계타라표이오차병진행오차보상，보상후，재이용일점위치진행전면적삼수수정，이득도중조소수적10개삼수。침대공간은정관성도항계통진행료방진，결과표명：채양빈솔10 Hz 조건하，근거련속6 hr 지속오차관측치즉가완성상관삼수변식，겁축타라적 g0항표이오차고계정도가체5.8%，이무법변식적도타라적 g0항표이오차，타장인기경도오차발산，인차수이용일점위치진행 g0항타라표이오차수정。실제도항시험표명：이용령속신식가상일점위치진행중조，속도화위치정도분별제고료58.2%화70.0%。
After long time independent navigation by INS(inertial navigation system), the velocity and position errors will divergence due to the const gyro drift error. In order to suppress this error, a const gyro drift error model based on velocity and one-point position error is built. First, a Kalman filter based on velocity error model is adopted to identify and compensate the const gyro drift error and the platform's error angles. After compensation, one-point position error is used to correct the above parameters and give ten essential parameters. Simulations are made for the space-stable INS, and the results show that, when we only utilize the velocity error information and with 10 Hz sampling frequency, the identification accuracy of const gyro drift error parameters for polar axis gyro can reach 5.8% after six hours’ simulation. But this method cannot identify const gyro drift error caused by equatorial gyro, which would bring out error divergence of longitude, so one-point position information is used to correct the const gyro drift error. Experimental result shows that velocity and position accuracy improve 58.2% and 70.0% after reset by the proposed method.